Range-finding device and driving method for range-finding device

Abstract

To provide a range-finding device capable of improving range-finding accuracy while suppressing an increase in a memory capacity or a processing circuit to be required for signal processing.SOLUTION: A range-finding device includes: a light-receiving unit having a plurality of pixels for light including irradiation light from a light-emitting unit, reflected by an object being in a measuring target area; a binning processing unit that converts a plurality of signals output from the plurality of pixels into a signal for each pixel block including some pixels of the plurality of pixels; an information generation unit that generates information associating the signal for each pixel block, generated by the binning processing unit with a time until light is detected from light emission of the light-emitting unit; and a data propagation unit that transfers the plurality of signals from the light-emitting unit to the binning processing unit. The data propagation unit sequentially transfers the plurality of signals received from the light-receiving unit to the binning processing unit, and the binning processing unit sequentially converts the plurality of signals transferred from the data propagation unit into the signal for each pixel block.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a distance measuring device and a method for driving the distance measuring device. [Background technology]

[0002] One distance measurement technology is to measure the distance to an object by irradiating a predetermined area including the object with light from a surface light source, detecting the reflected light from the object, and measuring the distance to the object from the relationship between the emission timing of the surface light source and the detection timing of the reflected light from the object. This technology is called flash LiDAR (Light Detection And Ranging).

[0003] In flash LiDAR, the accuracy of distance measurement is improved by emitting a surface light source multiple times and accumulating the reflected light. The accumulation of the reflected light is performed by generating histogram information that represents the relationship between distance and frequency, but the memory capacity required for signal processing increases in proportion to the increase in the number of pixels in the light receiving section. Therefore, it has been proposed to reduce the memory capacity required for signal processing by performing a process of treating multiple pixels as one pixel, a so-called binning process. Patent Document 1 proposes reducing the memory capacity required for processing by adding signal information of adjacent pixels. Patent Document 2 proposes reducing the required memory capacity by configuring the memory to store the information in memory after compression determination. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-118570 A [Patent Document 2] US Patent Application Publication No. 2020 / 0058698 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the techniques described in Patent Documents 1 and 2, it is necessary to provide an addition circuit and a compression determination circuit for each pixel unit where addition and compression determination are performed, and an increase in the circuit scale is unavoidable.

[0006] An object of the present invention is to provide a distance measuring device and a method for driving the distance measuring device that can improve distance measuring accuracy while suppressing increases in memory capacity and processing circuits required for signal processing. [Means for solving the problem]

[0007] According to one disclosure of the present specification, there is provided a distance measuring device comprising: a light receiving unit having a plurality of pixels that detects light including irradiation light from a light emitting unit reflected by an object in a measurement area; a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for each pixel block, each of which includes a portion of the plurality of pixels; an information generating unit that generates information that corresponds the signals for each pixel block generated by the binning processing unit to the time from when the light emitting unit emits light to when the light is detected; and a data propagation unit that transfers the plurality of signals from the light receiving unit to the binning processing unit, wherein the data propagation unit sequentially transfers the plurality of signals received from the light receiving unit to the binning processing unit, and the binning processing unit sequentially converts the plurality of signals transferred from the data propagation unit into signals for each pixel block.

[0008] Furthermore, according to another disclosure in this specification, there is provided a method for driving a distance measuring device having a light receiving unit having a plurality of pixels that detects light including irradiation light from a light emitting unit reflected by an object in a measurement area, a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for each pixel block, each of which includes a portion of the plurality of pixels, and an information generating unit that generates information that corresponds the signals for each pixel block generated by the binning processing unit to the time from when the light emitting unit emits light to when the light is detected, the method receiving the plurality of signals from the light receiving unit, sequentially transferring the plurality of signals received from the light receiving unit to the binning processing unit, and sequentially converting the plurality of signals transferred to the binning processing unit into signals for each pixel block. Effect of the Invention

[0009] According to the present invention, it is possible to realize a distance measuring device and a method for driving a distance measuring device that improves distance measuring accuracy while suppressing increases in memory capacity and processing circuits required for signal processing. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a schematic configuration of a distance measuring device according to a first embodiment of the present invention. [Diagram 2] 2 is a diagram showing an example of the configuration of a light receiving unit, a data propagation unit, and a binning processing unit in the distance measuring device according to the first embodiment of the present invention. FIG. [Diagram 3] FIG. 2 is a timing chart showing the basic operation of the distance measuring device according to the first embodiment of the present invention. [Figure 4] 3A to 3C are diagrams illustrating a method of acquiring distance information in the distance measuring device according to the first embodiment of the present invention. [Diagram 5] 5 is a flowchart showing a method for driving the distance measuring device according to the first embodiment of the present invention. [Figure 6] 5A to 5C are diagrams illustrating an example of the operation of a binning processing unit in the distance measuring device according to the first embodiment of the present invention. [Figure 7]FIG. 11 is a diagram illustrating an example of the configuration of a binning processing unit in a distance measuring device according to a second embodiment of the present invention. [Figure 8] 13 is a diagram showing an example of the configuration of a light receiving unit, a data propagation unit, and a binning processing unit in a distance measuring device according to a third embodiment of the present invention. FIG. [Figure 9] FIG. 13 is a diagram showing an example of the configuration of a moving body according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the present invention, and not all of the combinations of features described in each embodiment are necessarily essential to the solution of the present invention.

[0012] [First embodiment] A distance measuring device and a distance measuring method according to a first embodiment of the present invention will be described with reference to Figs. 1 to 6. Fig. 1 is a block diagram showing a schematic configuration of the distance measuring device according to this embodiment. Fig. 2 is a diagram showing an example of the configuration of a light receiving section, a data propagation section and a binning processing section in the distance measuring device according to this embodiment. Fig. 3 is a timing chart showing the basic operation of the distance measuring device according to this embodiment. Fig. 4 is a diagram explaining a method of acquiring distance information in the distance measuring device according to this embodiment. Fig. 5 is a flowchart showing a method of driving the distance measuring device according to this embodiment. Fig. 6 is a diagram showing an example of the operation of the binning processing section in the distance measuring device according to this embodiment.

[0013] First, a schematic configuration of the distance measuring device according to this embodiment will be described with reference to Fig. 1. As shown in Fig. 1, the distance measuring device 100 according to this embodiment has a light emitting unit 10, a control unit 20, a time counting unit 30, a light receiving unit 40, a data propagation unit 50, a binning processing unit 60, a histogram information generating unit 70, a histogram information holding unit 80, and an output unit 90. The light receiving unit 40 includes a plurality of pixels 42 arranged two-dimensionally across a plurality of rows and a plurality of columns.

[0014] The control unit 20 is connected to the light emitting unit 10, the time counting unit 30, and the light receiving unit 40. The time counting unit 30 is connected to the light receiving unit 40 and the histogram information generating unit 70. Each of the multiple pixels 42 constituting the light receiving unit 40 is connected to a data propagation unit 50. The data propagation unit 50 is connected to a binning processing unit 60. The binning processing unit 60 is connected to the histogram information generating unit 70. The histogram information generating unit 70 is connected to a histogram information holding unit 80. The histogram information holding unit 80 is connected to an output unit 90.

[0015] The light emitting unit 10 has a light emitting element (not shown) and has a role of emitting pulsed light (irradiation light 12) such as laser light emitted from the light emitting element to the measurement target area. As the light emitting element constituting the light emitting unit 10, for example, an element capable of high-speed modulation such as an LED (Light Emitting Diode) or an LD (Laser Diode) can be applied. The light emitting element may be a VCSEL (Vertical Cavity Surface Emitting Laser) or a surface light emitting element in which the VCSEL is arranged in an array. The light emitting unit 10 is preferably configured to irradiate the measurement target area with a uniform amount of light, and may further include an optical element, such as a lens, for optically converting the light emitted from the light emitting element and irradiating the measurement target area.

[0016] The light receiving unit 40 has a role of detecting light incident from the measurement target area. The light incident on the light receiving unit 40 includes not only the ambient light in the measurement target area, but also the light (reflected light 14) of the irradiated light 12 reflected by the object 110 in the measurement target area. Each of the pixels 42 arranged on the light receiving unit 40 has a photoelectric conversion element, converts the incident light (optical signal) into an electric signal (pulse signal), and counts the pulse signals generated during a predetermined period. The counting result is held as a pixel value in each pixel 42. For example, a SPAD (Single Photon Avalanche Diode) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor can be applied as the pixel 42. The light receiving unit 40 may further include an optical element, such as a lens, for efficiently guiding the reflected light 14 to the pixel 42.

[0017] The control unit 20 generates a light emission control signal for controlling the emission timing of pulsed light in the light emission unit 10, and transmits the generated light emission control signal to the light emission unit 10. The control unit 20 also generates a count control signal synchronized with the light emission control signal, and transmits the generated count control signal to the time count unit 30. The control unit 20 also notifies the light receiving unit 40, the binning processing unit 60, the histogram information generation unit 70, and the histogram information storage unit 80 of their respective processing timings.

[0018] The time count unit 30 starts counting time in response to a count control signal from the control unit 20, and counts up the time count value by 1 at regular intervals. The time count unit 30 sequentially transmits the time count value to the histogram information generating unit .

[0019] The data propagation unit 50 has a role of transferring pixel values ​​held by each of the multiple pixels 42 of the light receiving unit 40 to the binning processing unit 60. Specifically, the data propagation unit 50 receives pixel value data in parallel all at once from the multiple pixels 42 of the light receiving unit 40 at a predetermined timing, and sequentially transfers the received pixel values ​​to the downstream binning processing unit 60 at a constant clock cycle.

[0020] The binning processing unit 60 is a functional block that performs a process of combining signals from two or more pixels into a signal from one larger pixel block, that is, a so-called pixel binning process. Specifically, the binning processing unit 60 performs a binning process on pixel value data sent from the data propagation unit 50 at a constant clock cycle, and sequentially converts the data into signals for each pixel block, each of which includes some of the multiple pixels that constitute the light receiving unit 40. Note that, in this embodiment, a case will be described in which the composition of pixel signals during the binning process is a compression process, but the binning process is not limited to a compression process. Details of the binning process will be described later.

[0021] The histogram information generating unit 70 generates information that associates the signal for each pixel block with the time from the emission of the light emitting unit 10 to the detection of light, based on the signals from the binning processing unit 60 and the time counting unit 30. This information is information obtained by accumulating the output data from the binning processing unit 60 at a predetermined time interval. Since this information represents the relationship between time classes (hereinafter referred to as "bins") and the frequency in each bin, this specification refers to the information as a histogram that represents the relationship between the classes and the frequency, and thus refers to the information as histogram information. The histogram information only needs to be information that associates the classes with the frequency, and the data structure does not need to be a histogram itself. The frequency here is a value that indicates the number of times that a pixel block detects light in a predetermined time interval, and corresponds to a photon count value described later.

[0022] The histogram information storage unit 80 has a storage device such as a memory, and stores the histogram information generated by the histogram information generation unit 70 .

[0023] The output unit 90 outputs the histogram information held by the histogram information holding unit 80 to an external processing device (not shown). Alternatively, the output unit 90 calculates distance information to the object 110 based on the histogram information held by the histogram information holding unit 80, converts the distance information into a format conforming to an output format, and then outputs the distance information to an external processing device (not shown).

[0024] Next, a more specific example of the configuration of the light receiving section 40, the data transfer section 50, and the binning processing section 60 in the distance measuring device according to this embodiment will be described with reference to FIG.

[0025] As described above, the light receiving unit 40 is provided with a plurality of pixels 42 arranged across a plurality of rows and a plurality of columns. The plurality of pixels 42 are divided into a plurality of groups. The grouping of the pixels 42 is not particularly limited, but may be, for example, a unit of row or column. For example, a group may be formed for each row, or a group may be formed for each column. Each row or each column may include two or more groups. In this embodiment, it is assumed that a plurality of pixels 42 form one group for each row. FIG. 2 shows four pixels 42 arranged at both ends of a certain row of pixels 42 that form one group.

[0026] The data propagation unit 50 has a plurality of selectors 52 and a plurality of sequential circuits 54 corresponding to a plurality of pixels 42 of the light receiving unit 40. The binning processing unit 60 has a combinational circuit 62, a selector 64, and a sequential circuit 66. The selectors 52 and 64 have two input terminals and one output terminal, and select a signal input to one of the two input terminals and output it from the output terminal. The sequential circuits 54 and 66 are circuits whose output state is determined by a combination of an input signal from the outside and a held internal state, and may be configured, for example, by a D-type flip-flop. The sequential circuits 54 and 66 have an input terminal, an output terminal, and a clock terminal, and hold a signal at the input terminal according to the transition timing of a clock signal input to the clock terminal, and continuously output the held signal from the output terminal. The sequential circuits 54 and 66 can also be called signal holding units. The combinational circuit 62 has five input terminals and one output terminal, and outputs a signal according to the signal input from the five input terminals from the output terminal.

[0027] Each of the pixels 42 has a latch circuit that temporarily holds a pixel value. The latch circuit of the pixel 42 is connected to one input terminal of a selector 52 corresponding to the pixel 42. The output terminal of the selector 52 is connected to an input terminal of a sequential circuit 54 corresponding to the pixel 42. The sequential circuits 54 corresponding to the pixels 42 constituting one group are connected in series via the selector 52. That is, the output terminal of the sequential circuit 54 is connected to the other input terminal of the selector 52 corresponding to the pixel 42 in the adjacent column of the same row. As a result, the sequential circuits 54 corresponding to the pixels 42 constituting one group can be connected to form a shift register. Similarly, the sequential circuits 54 corresponding to the pixels 42 (not shown) constituting another group can be connected to form another shift register. FIG. 2 shows two shift registers corresponding to two groups.

[0028] Of the sequential circuits 54 constituting the data propagation unit 50, the output terminals of a predetermined number of sequential circuits 54 corresponding to the binning process in the binning processing unit 60 are connected to the input terminals of a combinational circuit 62. In this embodiment, the output terminals of the two sequential circuits 54 downstream of each shift register are respectively connected to the input terminals of the combinational circuit 62. The output terminal of the combinational circuit 62 is connected to the input terminal of a sequential circuit 66. The output terminal of the sequential circuit 66 is connected to one input terminal of a selector 64. The output terminal of the selector 64 is connected to the input terminal of the combinational circuit 62. The output terminal of the sequential circuit 66 is also the output terminal of the binning processing unit 60. A signal of a level corresponding to a pixel value of 0 is provided to the other input terminal of the selector 64.

[0029] FIG. 3 is a timing diagram showing a basic operation of the distance measuring device according to this embodiment. In the distance measuring period of the distance measuring device according to this embodiment, a frame period FP of a predetermined length is sequentially performed multiple times, similar to the distance measuring period of a general LiDAR system. In FIG. 3, it is assumed that N frame periods FP including a first frame period FP1, a second frame period FP2, ..., an Nth frame period FPN are performed during the distance measuring period. In each frame period FP, multiple shot periods SP and a peak determination period PP are executed. In FIG. 3, it is assumed that M shot periods SP including a first shot period SP1, a second shot period SP2, ..., an Mth shot period SPM, and a peak determination period PP are performed during one frame period FP. Each shot period SP is divided into multiple bins separated based on a time count. In FIG. 3, it is assumed that one shot period SP is divided into L bins including bin B1, bin B2, ..., bin BL.

[0030] One frame period FP corresponds to a period for acquiring one distance image. In one shot period SP, a pulsed light is emitted once from the light-emitting unit 10. That is, each shot period SP starts from the timing when the light-emitting unit 10 emits a pulsed light, and the length of each shot period SP is determined by the interval at which the pulsed light is emitted. During each shot period SP, a counting operation is performed for each pixel 42 to count the pulses output from the photoelectric conversion element for each bin separated based on a predetermined time count. The pulse signal output from the photoelectric conversion element is, for example, a photon detection pulse signal output from a SPAD.

[0031] A typical method for counting time is to use a ring oscillator to count the pulses of a clock signal that oscillates at high speed with the same period. If the period of the clock signal is, for example, 0.1 microseconds, it is possible to determine that 1 microsecond has passed when the time count value increases from, for example, 0 to 10. In Fig. 3, it is assumed that the period of the clock signal for counting time is sufficiently faster than the frequency of the pulse signal output from the photoelectric conversion element.

[0032] In this manner, by acquiring the photon count value in each bin in each shot period SP, data including histogram information (histogram information) such as that shown in FIG. 4 can be acquired.

[0033] Fig. 4(a) shows an example of a histogram acquired in the first shot period SP1, Fig. 4(b) shows an example of a histogram acquired in the second shot period SP2, and Fig. 4(c) shows an example of a histogram acquired in the third shot period SP3. Fig. 4(d) shows a histogram obtained by integrating the histograms in Fig. 4(a) to Fig. 4(c).

[0034] As shown in FIG. 4(a), in the histogram acquired in the first shot period SP1, the photon count value in bin 6 is at its peak. As shown in FIG. 4(b), in the histogram acquired in the second shot period SP2, the photon count value in bin 3 and bin 5 is at its peak. As shown in FIG. 4(c), in the histogram acquired in the third shot period SP3, the photon count value in bin 6 is at its peak. Meanwhile, in the histogram obtained by accumulating these, as shown in FIG. 4(d), the photon count value in bin 6 is at its peak. In this way, by accumulating information from multiple shot periods SP, it is possible to determine the bin that is more likely to contain reflected light from the object to be measured.

[0035] In the peak determination period PP, the distance to the object 110 is calculated based on the time information of the bin where the photon count value reaches its peak. The distance D [m] to the object 110 can be calculated by the following formula (1). Here, t is the time count value (unit: seconds) acquired from the time count unit 30 at the timing when the pulse signal is received from the light receiving unit 40, and c is the speed of light (2.998×10 8 [m / sec]). D = c × t / 2 [m] … (1)

[0036] 4 are set at 10 nanosecond intervals, bin 6 in which the photon count value shows a peak corresponds to the class that counts pulse signals detected between 50 nanoseconds and 60 nanoseconds after light emission by light-emitting unit 10. Therefore, distance D to object 110 can be calculated from equation (1) to be 7.5 [m] to 9.0 [m].

[0037] In a typical LiDAR system, histogram information is generated for each pixel, but in this embodiment, binning processing is performed in the binning processing unit 60, and histogram information is generated for each pixel group after the binning processing. The processing after the generation of the histogram information may be similar to the processing in a typical LiDAR system.

[0038] Next, the operation of the distance measuring device according to this embodiment will be described in more detail with reference to FIG. When distance measurement is started, a plurality of frame periods FP are executed in sequence starting from the first frame period FP1, as described with reference to Fig. 3. When the frame period FP is started, first, in step S101, an initialization process for starting the frame period FP is performed. That is, in step S101, a variable m representing the number of the shot period SP being processed and a variable l representing the bin number being processed are set to an initial value of 1.

[0039] Next, in step S102, an initialization process is performed to start processing in each bin. That is, in step S102, a variable t representing a time count value and a variable PC representing a photon count value are set to an initial value of 0.

[0040] Next, in step S103, a shot period SPm is started. The shot period SPm is started by emitting pulsed light from the light emitting unit 10 under the control of the control unit 20, and starting time counting in the time counting unit 30 in synchronization with the emission of pulsed light. The time counting unit 30 starts counting time from 0 (t=0). The time counting can be performed, for example, by a method of counting a clock signal. For example, when a clock signal with a period of 0.1 microseconds is used, an increase in the time count value from 0 to 10 indicates that 1 microsecond has passed.

[0041] Next, in step S104, photon count processing is performed in bin Bl of shot period SPm. In the photon count processing, pulses generated by light incident on the photoelectric conversion element of the pixel 42 are counted for each pixel 42. The counting results are held in a latch circuit of each pixel 42. Note that the counter provided in each pixel 42 may be a 1-bit counter, and the photon count processing may be stopped when the photon count value reaches 1 until the period of that bin has elapsed.

[0042] Next, in step S105, it is determined whether or not the time count value t has reached a predetermined time count value T that is predetermined as a bin interval. If the result of the determination is that the time count value t has not reached the time count value T ("NO" in step S105), the process returns to step S104 and continues the photon counting process. If the result of the determination is that the time count value t has reached the time count value T ("YES" in step S105), bin Bl is terminated and the process proceeds to step S106.

[0043] In step S106, the pixel values ​​held in the latch circuits of the pixels 42 are transferred to the binning processing unit 60 via the data propagation unit 50. The binning processing unit 60 performs binning processing for each predetermined pixel block on the pixel values ​​received from the light receiving unit 40, and transfers the pixel values ​​for each pixel block after the binning processing to the histogram information generation unit 70. Details of the data transfer processing in step S106 will be described later.

[0044] Next, in step S107, it is determined whether the bin Bl being processed is the last bin BL among the bins constituting the shot period SPm being processed. If the determination result shows that the bin Bl is not a bin BL (l ≠ L, "NO" in step S107), the bin number l is incremented by 1 and the photon count value PC is initialized to 0 in step S108. Thereafter, the process returns to step S104 to process the next bin in the shot period SPm. If the determination result shows that the bin Bl is a bin BL (l = L, "YES" in step S107), the shot period SPm is ended and the process proceeds to step S109.

[0045] The pixel values ​​in each bin of each pixel block held in the histogram information generation unit 70 at the time when the shot period SPm ends become histogram information for the shot period SPm. The histogram information generation unit 70 stores the acquired histogram information in the histogram information holding unit 80.

[0046] In step S109, it is determined whether the shot period SPm being processed is the last shot period SPM among the shot periods constituting the frame period FP being processed. If the result of the determination is that the shot period SPm is not the shot period SPM (m ≠ M, "NO" in step S109), the shot period number m is incremented by 1 in step S110, and the process returns to step S102 to process the next shot period SP. If the result of the determination is that the shot period SPm is the shot period SPM (m = M, "YES" in step S109), the process proceeds to step S111.

[0047] Next, in step S111, the output unit 90 transfers the histogram information of each shot period stored in the histogram information storage unit 80 to the outside of the distance measuring device. Note that the information output to the outside may be histogram information obtained by accumulating the histogram information of each shot period for each bin, or may be information (peak information) about the bin showing the peak frequency in the histogram information, or distance information based on this.

[0048] Next, in step S112, the control unit 20 determines whether or not to end the distance measurement process. If the result of the determination is that the distance measurement process should not be ended ("NO" in step S112), the process returns to step S101 and starts processing for the next frame period. If the result of the determination is that the distance measurement process should be ended ("YES" in step S112), the image capturing by the light receiving unit 40 is stopped and the series of distance measurement processes is ended.

[0049] Next, an example of the operations of the light receiving section 40, the data propagation section 50, and the binning processing section 60 in the data transfer process in step S106 will be described with reference to FIGS.

[0050] The photon count value (pixel value) acquired by the photon count process in step S104 is held in the latch circuit of each pixel 42. When each pixel 42 receives a control signal from the control unit 20, it outputs the pixel value held in the latch circuit to the data propagation unit 50. At this time, by selecting one input terminal on the latch circuit side of the selector 52, the pixel value of each pixel 42 is supplied to the input terminal of the corresponding sequential circuit 54. In this state, a clock signal is input to the clock terminal of each sequential circuit 54, so that the pixel value of each pixel 42 is held in the corresponding sequential circuit 54. At this time, if a common clock signal is supplied to each sequential circuit 54, the pixel values ​​of each pixel 42 can be written in parallel in a batch to the corresponding sequential circuit 54. After the pixel value of each pixel 42 is written to the sequential circuit 54, the latch circuit of the pixel 42 can hold the data of the next bin.

[0051] After the transfer of the pixel values ​​to the sequential circuits 54 is completed, the other input terminal of the selector 52 is selected, so that the sequential circuits 54 corresponding to the pixels 42 constituting each group each form a shift register. When a common clock signal is supplied to each sequential circuit 54 in this state, the pixel values ​​held in each sequential circuit 54 are sequentially transferred to the sequential circuit 54 one stage downstream in each shift register each time a clock pulse is received. By forming a shift register using the sequential circuits 54 corresponding to the pixels 42 constituting each group, the sequential transfer of signals received from the light receiving unit 40 to the binning processing unit 60 can be easily performed.

[0052] When the pixel values ​​are transferred to a predetermined sequential circuit 54 downstream of each shift register, the pixel values ​​are input to the binning processing unit 60. In the configuration example shown in FIG. 2, the signals a, b, c, and d output from the two sequential circuits 54 downstream of each shift register are input in parallel to a combinational circuit 62 of the binning processing unit 60. By sequentially inputting to each sequential circuit 54 a number of clock pulses corresponding to the number of pixels 42 constituting each group, the pixel values ​​of all the pixels 42 can be transferred from the data propagation unit 50 to the binning processing unit 60. The period of the clock signal input to the sequential circuit 54 is appropriately set so that the transfer of the pixel values ​​of all the pixels 42 is completed before the pixel value of the next bin is transferred to the data propagation unit 50.

[0053] The combinational circuit 62 can perform binning processing based on the signals a, b, c, and d from the data propagation unit 50. The combinational circuit 62 can also perform binning processing based on the signals a, b, c, and d and the signal z output from the combinational circuit 62 one clock cycle earlier by selecting the signal z output from the sequential circuit 66 using the selector 64. The binning processing performed by the combinational circuit 62 is not particularly limited, but here, a compression processing of four pixels is assumed. Here, the compression processing is a processing in which the output result is output without bit expansion. In other words, the bit width of the data after processing by the binning processing unit 60 is equal to or less than the bit width of the input data to the binning processing unit 60.

[0054] Fig. 6 is a truth table showing an example of binning processing in the combinational circuit 62. Fig. 6 shows signals a, b, c, d, and z input to the combinational circuit 62, and a signal y output from the combinational circuit 62. Here, the signals a, b, c, d, and z are 1-bit signals, and an example of binning processing is shown in which 1 is output when three or more of five inputs are 1.

[0055] When the selector 64 selects input 0, that is, when the signal z output from the combinational circuit 62 one clock cycle ago is not fed back to the input, the combinational circuit 62 outputs 1 when three or more of signals a, b, c, and d are 1. When the signal z is not fed back, the combinational circuit 62 outputs the result of binning the pixel values ​​of adjacent pixel blocks of two pixels vertically and two pixels horizontally, a total of four pixels. Here, this process is referred to as four-pixel binning.

[0056] When the selector 64 selects the signal z, that is, when the signal z output from the combinational circuit 62 one clock cycle ago is fed back to the input, the combinational circuit 62 outputs 1 if the signal z is 1 and two or more of the signals a, b, c, and d are 1. In this case, binning is performed on information of four pixels in the current clock cycle and information of four pixels one clock cycle ago shifted by one pixel in the row direction. This is essentially binning information of two pixels vertically and three pixels horizontally. Here, this processing is called 4 pixels x 2 binning. As in the configuration example shown in FIG. 2, by configuring the combinational circuit 62 for 4-pixel binning so that the binning result from one clock cycle ago can be fed back, it is possible to expand the binning range while suppressing a significant expansion of the circuit scale. Note that the signal z fed back to the input does not necessarily have to be the signal z output one clock cycle ago, and may be a signal output two or more clock cycles ago. In other words, the signal z fed back to the input may be the signal z output one clock cycle ago.

[0057] In this manner, in this embodiment, the signals received from the light receiving unit 40 are sequentially transferred to the binning processing unit 60 and sequentially converted into signals for each pixel block. This allows the binning processing unit 60 to be shared by multiple pixel blocks, eliminating the need to provide a binning processing unit 60 for each pixel block, making it possible to reduce the circuit scale of the pixel circuits and peripheral circuits. Therefore, according to this embodiment, it is possible to improve distance measurement accuracy while suppressing increases in memory capacity and processing circuits required for signal processing.

[0058] [Second embodiment] A distance measuring device and a driving method thereof according to a second embodiment of the present invention will be described with reference to Fig. 7. The same components as those in the distance measuring device according to the first embodiment are given the same reference numerals, and their description will be omitted or simplified. Fig. 7 is a circuit diagram showing an example of the configuration of a binning processing unit in the distance measuring device according to this embodiment.

[0059] The distance measuring device according to this embodiment is similar to the distance measuring device according to the first embodiment, except for the configuration of the binning processing unit 60. In this embodiment, the differences from the first embodiment will be mainly described, and the description of the similarities between the first embodiment and the first embodiment will be omitted as appropriate.

[0060] As shown in FIG. 7, the binning processing unit 60 of this embodiment has adders ADD1, ADD2, ADD3, and ADD4, sequential circuits FF1, FF2, and FF3, and a selector SEL. The adders ADD1, ADD2, ADD3, and ADD4 have two input terminals and one output terminal, add signals input from the two input terminals, and output the result from the output terminal. The sequential circuits FF1, FF2, and FF3 are circuits whose output state is determined by a combination of an external input signal and a held internal state, and may be configured, for example, by a D-type flip-flop. The sequential circuits FF1, FF2, and FF3 have an input terminal, an output terminal, and a clock terminal, and hold a signal at the input terminal and continuously output the signal from the output terminal according to the transition timing of the clock signal input from the clock terminal. The selector SEL has two input terminals and one output terminal, and selects a signal input to one of the two input terminals and outputs the signal from the output terminal.

[0061] As in the first embodiment, the binning processing unit 60 receives signals a, b, c, and d output from the data propagation unit 50. The adder ADD1 receives signals a and b, and the adder ADD2 receives signals c and d. The output terminal of the adder ADD1 is connected to one input terminal of the adder ADD3. The output terminal of the adder ADD2 is connected to the other input terminal of the adder ADD3. The output terminal of the adder ADD3 is connected to the input terminal of the sequential circuit FF1. The output terminal of the sequential circuit FF1 is connected to the input terminal of the sequential circuit FF2 and one input terminal of the adder ADD4. The output terminal of the sequential circuit FF2 is connected to the other input terminal of the adder ADD4 and one input terminal of the selector SEL. The output terminal of the adder ADD4 is connected to the other input terminal of the selector SEL. The output terminal of the selector SEL is connected to the input terminal of the sequential circuit FF3. The output terminal of the sequential circuit FF3 constitutes the output terminal of the binning processing unit 60.

[0062] In the binning processing unit 60 of this embodiment, the adders ADD1, ADD2, ADD3, and ADD4 correspond to the combinational circuit 62 of the first embodiment. The signals a, b, c, and d are added by the adders ADD1, ADD2, and ADD3, and are held in the sequential circuit FF1 in response to a clock pulse input to the sequential circuit FF1. The addition data i output from the sequential circuit FF1 is input to an input terminal of the sequential circuit FF2 and one of the input terminals of the adder ADD4.

[0063] At this time, the sequential circuit FF2 holds the binning result (addition data j) from one clock cycle ago. Therefore, the addition data j is input to one input terminal of the selector SEL, and addition data k of addition data i and addition data j is input to the other input terminal of the selector SEL. By selecting one of the addition data j and addition data k by the selector SEL, it is possible to output either the result of 4-pixel binning or the result of 4 pixels x 2 binning, as in the first embodiment. The addition data output from the selector SEL is held in the sequential circuit FF3 in response to the input of a clock pulse to the sequential circuit FF3.

[0064] In this embodiment, in order to prevent the sum data from becoming huge, a feedback loop as used in the first embodiment is not used. According to this embodiment, although it is necessary to expand the data by 1 bit after the data addition, it is possible to reduce the circuit area without compressing the data.

[0065] As described above, according to this embodiment, it is possible to improve distance measurement accuracy while suppressing an increase in memory capacity and processing circuits required for signal processing.

[0066] [Third embodiment] A distance measuring device and a driving method thereof according to a third embodiment of the present invention will be described with reference to Fig. 8. Components similar to those in the distance measuring device according to the first or second embodiment are given the same reference numerals, and descriptions thereof will be omitted or simplified. Fig. 8 is a circuit diagram showing a configuration example of a light receiving unit, a data propagation unit, and a binning processing unit in the distance measuring device according to this embodiment.

[0067] The distance measuring device according to this embodiment is similar to the distance measuring device according to the first embodiment, except for the configuration of the binning processing unit 60. In this embodiment, the differences from the first embodiment will be mainly described, and the description of the similarities between the first embodiment and the first embodiment will be omitted as appropriate.

[0068] As shown in Fig. 8, the binning processing unit 60 of this embodiment has combinational circuits 621, 622, and 623, sequential circuits FF11, FF12, FF21, FF22, FF31, and FF32, and selectors SEL1, SEL2, SEL3, and SE14. The selectors SEL1, SEL2, SEL3, and SE14 have two input terminals and one output terminal, and select a signal input to one of the two input terminals and output it from the output terminal. The sequential circuits FF11, FF12, FF21, FF22, FF31, and FF32 are circuits whose output states are determined by a combination of an input signal from the outside and a held internal state, and may be configured, for example, by a D-type flip-flop. The sequential circuits FF11, FF12, FF21, FF22, FF31, and FF32 have an input terminal, an output terminal, and a clock terminal, and hold a signal at the input terminal and output it from the output terminal according to the transition timing of a clock signal input to the clock terminal. Like the combinational circuit 62 in the first embodiment, the combinational circuits 621 and 622 have five input terminals and one output terminal, and output signals from the output terminals according to signals input from the five input terminals. The combinational circuit 623 has two input terminals and one output terminal, and output signals from the output terminals according to signals input from the two input terminals.

[0069] Among the sequential circuits 54 constituting the data propagation unit 50, the output terminals of a predetermined sequential circuit 54 corresponding to the binning process in the binning processing unit 60 are connected to the input terminals of the combinational circuits 621 and 622. In this embodiment, the pixels 42 arranged in each row form a group forming a shift register, and the output terminals of the two sequential circuits 54 downstream of the two shift registers arranged in adjacent rows are connected to the input terminals of the same combinational circuits 621 and 622. Specifically, the signals a, b, c, and d output from the two sequential circuits 54 downstream of the two shift registers arranged in adjacent rows are input to the combinational circuit 621. In addition, the signals c, d, e, and f output from the two sequential circuits 54 downstream of the two shift registers arranged in adjacent rows are input to the combinational circuit 622.

[0070] An output terminal of the combinational circuit 621 is connected to an input terminal of the sequential circuit FF11. An output terminal of the sequential circuit FF11 is connected to one input terminal of the selector SEL1 and an input terminal of the sequential circuit FF21. An output terminal of the selector SEL1 is connected to an input terminal of the combinational circuit 621. An output terminal of the sequential circuit FF21 is connected to an input terminal of the sequential circuit FF31 and one input terminal of the combinational circuit 623. An output terminal of the sequential circuit FF31 is an output terminal of the binning processing unit 60 that outputs the signal z1. An output terminal of the combinational circuit 623 is connected to one input terminal of the selector SEL4.

[0071] An output terminal of the combinational circuit 622 is connected to an input terminal of the sequential circuit FF12. An output terminal of the sequential circuit FF12 is connected to one input terminal of the selector SEL2 and an input terminal of the sequential circuit FF22. An output terminal of the selector SEL2 is connected to an input terminal of the combinational circuit 622. An output terminal of the sequential circuit FF22 is connected to the other input terminal of the selector SEL4. An output terminal of the selector SEL4 is connected to an input terminal of the sequential circuit FF32. An output terminal of the sequential circuit FF32 is connected to one input terminal of the selector SEL3. An output terminal of the selector SEL3 is connected to the other input terminal of the combinational circuit 623. An output terminal of the sequential circuit FF32 is an output terminal of the binning processing unit 60 that outputs the signal z2.

[0072] A common clock signal clk1 is supplied to clock terminals of the sequential circuit 54 of the data propagation unit and the sequential circuits FF11, FF21, FF12, and FF22 of the binning processing unit 60. A common clock signal clk2 is supplied to the sequential circuits FF31 and FF32 of the binning processing unit 60.

[0073] As described above, the binning processing unit 60 of this embodiment has a combinational circuit 623 between the sequential circuit FF31 that receives a signal from the combinational circuit 621 and the sequential circuit FF32 that receives a signal from the combinational circuit 622. The combinational circuit 623 is provided to expand the binning range in the column direction. In this embodiment, the sequential circuits FF11, FF21, FF12, and FF22 operate in synchronization with the clock signal clk1, whereas the sequential circuits FF31 and FF32 operate in synchronization with the clock signal clk2. The frequencies of the clock signals clk1 and clk2 may be the same, but while one of the signals is operating, the supply of the other is stopped in order to prevent data propagation and binning in the row direction from being performed simultaneously with binning in the column direction.

[0074] When performing 4-pixel binning, the selectors SEL1 and SEL2 are set so as not to provide feedback input to the combinational circuits 621 and 622, and the selector SEL4 is set to select the signal x2 output from the sequential circuit FF22. This allows the processing results of the combinational circuits 621 and 622 to be output as signals z1 and z2, respectively. In this case, the same signal may be used for the clock signals clk1 and clk2, and these may be toggled simultaneously.

[0075] When performing 9-pixel binning, the selectors SEL1 and SEL2 are set to provide feedback input to the combinational circuits 621 and 622, and the signal y2 is selected one clock cycle after the selector SEL4 selects the signal x2. After another clock cycle, the signal z2 is output as the binning result. In this case, the clock signal clk1 is prevented from operating while the clock signal clk2 is toggling.

[0076] Although 4-pixel binning and 9-pixel binning have been described as examples here, 16-pixel or more binning is also possible by further providing a combinational circuit 623 and selectors SEL3 and SEL4 to connect signals from four or more shift registers in the column direction. Also, the binning range can be freely switched by appropriately switching the operation of the selectors SEL1, SEL2, SEL3, and SEL4.

[0077] As described above, according to this embodiment, it is possible to improve distance measurement accuracy while suppressing an increase in memory capacity and processing circuits required for signal processing.

[0078] [Fourth embodiment] A moving body according to a fourth embodiment of the present invention will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of the configuration of a moving body according to this embodiment.

[0079] 9(a) shows an example of the configuration of a device mounted on a vehicle as an on-board camera. The device 300 has a distance measurement unit 303 that measures the distance to an object to be measured, and a collision determination unit 304 that determines whether or not there is a possibility of collision based on the distance measured by the distance measurement unit 303. The distance measurement unit 303 is configured by the distance measurement device 100 described in any one of the first to third embodiments. Here, the distance measurement unit 303 is an example of a distance information acquisition means that acquires distance information to the object to be measured. In other words, the distance information is information related to the distance to the object to be measured, etc.

[0080] The device 300 is connected to a vehicle information acquisition device 310 and can acquire vehicle information such as vehicle speed, yaw rate, and steering angle. In addition, the device 300 is connected to a control ECU 320, which is a control device that outputs a control signal to generate a braking force for the vehicle based on the judgment result of the collision judgment unit 304. In addition, the device 300 is also connected to an alarm device 330 that issues an alarm to the driver based on the judgment result of the collision judgment unit 304. For example, when the judgment result of the collision judgment unit 304 indicates that there is a high possibility of a collision, the control ECU 320 performs vehicle control to avoid a collision and reduce damage by applying the brakes, releasing the accelerator, suppressing engine output, etc. The alarm device 330 warns the user by sounding an alarm such as a sound, displaying alarm information on the screen of a car navigation system, etc., and applying vibrations to a seat belt or steering wheel. These devices of the device 300 function as a mobile object control unit that controls the operation of controlling the vehicle as described above.

[0081] In this embodiment, the device 300 measures distances around the vehicle, for example, in front or behind. Fig. 9(b) shows the device when measuring distances in front of the vehicle (distance measurement range 350). A vehicle information acquisition device 310 as a distance measurement control means sends an instruction to the device 300 or the distance measurement unit 303 to perform a distance measurement operation. With this configuration, the accuracy of distance measurement can be further improved.

[0082] Although the above describes an example of control to prevent collision with other vehicles, the present invention can also be applied to control of automatic driving by following other vehicles, control of automatic driving to prevent deviation from lanes, etc. Furthermore, the device is not limited to vehicles such as automobiles, but can be applied to moving bodies (moving devices) such as ships, aircraft, artificial satellites, industrial robots, and consumer robots. In addition, the present invention can be applied to devices that use object recognition or biometric recognition, such as intelligent transport systems (ITS) and surveillance systems, in addition to moving bodies.

[0083] [Modified embodiment] The present invention is not limited to the above-described embodiment, and various modifications are possible.

[0084] For example, an example in which part of the configuration of any one of the embodiments is added to another embodiment, or an example in which part of the configuration of another embodiment is substituted therefor, is also an embodiment of the present invention.

[0085] In the above embodiment, the light emitting unit 10 has been described as a part of the components of the distance measuring device 100, but the light emitting unit 10 does not necessarily have to be a part of the configuration of the distance measuring device 100. In addition, the distance measuring device 100 needs to have at least the histogram information generating unit 70 as a signal processing unit, and the functions of the histogram information holding unit 80 and the output unit 90 may be provided in an external device other than the distance measuring device 100.

[0086] In the above embodiment, the histogram information is generated using the time count value from when the light irradiated to the object is detected by the light receiving unit 40, but the histogram information may be generated by other methods. For example, the signal output from the photoelectric conversion element may be counted in a time-division manner at a predetermined time interval, and the counted signal may be converted into histogram information that indicates the relationship between distance and frequency.

[0087] The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0088] It should be noted that the above-mentioned embodiments are merely examples of the implementation of the present invention, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. In other words, the present invention can be implemented in various forms without departing from its technical concept or main features.

[0089] The disclosure of the above embodiment includes the following configurations and methods. (Configuration 1) a light receiving unit having a plurality of pixels for detecting light including irradiation light from the light emitting unit reflected by an object in a measurement target area; a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for pixel blocks each including a portion of the plurality of pixels; an information generating unit that generates information that associates the signal for each pixel block generated by the binning processing unit with a time from light emission by the light emitting unit to detection of the light; a data transfer unit that transfers the plurality of signals from the light receiving unit to the binning processing unit, the data transfer unit sequentially transfers the plurality of signals received from the light receiving unit to the binning processing unit; The binning processing unit sequentially converts the plurality of signals transferred from the data propagation unit into signals for each pixel block. A distance measuring device comprising: (Configuration 2) The data propagation unit has a plurality of signal holding units configured to be connectable to the plurality of pixels, respectively. 2. The distance measuring device according to configuration 1, (Configuration 3) The plurality of signals are transferred in parallel from the plurality of pixels to the plurality of signal holding units. 3. The distance measuring device according to configuration 2. (Configuration 4) The plurality of signal holding units are configured to be connectable to form a shift register. 4. The distance measuring device according to configuration 2 or 3. (Configuration 5) The shift register sequentially transfers each of the plurality of signals transferred to the plurality of signal holding units to the downstream signal holding unit. 5. The distance measuring device according to configuration 4. (Configuration 6) The pixels are arranged in a plurality of rows and a plurality of columns, The plurality of signal holding units are divided into groups corresponding to the rows or the columns, and each group constitutes the shift register. 6. The distance measuring device according to configuration 4 or 5. (Configuration 7) The signal holding units corresponding to one of the rows or columns are divided into two or more of the groups. 7. The distance measuring device according to configuration 6. (Configuration 8) The binning processing unit receives the signals in parallel from a predetermined number of the signal holding units downstream of the shift register. 8. A distance measuring device according to any one of configurations 4 to 7. (Configuration 9) The portion of pixels is arranged in two or more of the rows or columns, The binning processing unit receives signals of the part of pixels in parallel from the shift registers corresponding to the two or more rows or columns. 9. A distance measuring device according to any one of configurations 4 to 8. (Configuration 10) The shift register is configured to sequentially input the signals from the downstream signal holding unit to the binning processing unit in response to an input of a clock pulse. 10. A distance measuring device according to any one of configurations 4 to 9. (Configuration 11) The binning processing unit converts the signal input from the data propagation unit into the signal corresponding to the pixel block every time the clock pulse is input. 11. The distance measuring device according to configuration 10. (Configuration 12) The binning processing unit generates a signal based on the signal input from the data propagation unit and a processing result based on the signal input from the data propagation unit in response to the clock pulse one or more clock cycles earlier. 12. The distance measuring device according to claim 11, (Configuration 13) The bit width of the data after processing by the binning processing unit is equal to or less than the bit width of the input data to the binning processing unit. 13. The distance measuring device according to any one of configurations 1 to 12. (Configuration 14) The information generating unit generates the information indicating a relationship between a class determined according to a time from when the light emitting unit emits light to when the light receiving unit detects the light and a frequency indicating a number of times the light is detected, for each of the pixel blocks. 14. The distance measuring device according to any one of configurations 1 to 13. (Configuration 15) A mobile object, A distance information acquisition device according to any one of configurations 1 to 14, a control means for controlling the moving object based on the distance information acquired by the distance information acquisition device; A moving object comprising: (Method 1) A method for driving a distance measuring device having a light receiving unit having a plurality of pixels that detects light including irradiation light from a light emitting unit reflected by an object in a measurement target area, a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for pixel blocks each including a portion of the plurality of pixels, and an information generating unit that generates information that associates the signals for each pixel block generated by the binning processing unit with a time from emission of light by the light emitting unit to detection of the light, receiving the plurality of signals from the light receiving unit; The plurality of signals received from the light receiving unit are sequentially transferred to the binning processing unit; The plurality of signals transferred to the binning processing unit are sequentially converted into signals for each pixel block. A method for driving a distance measuring device comprising the steps of: [Explanation of symbols]

[0090] 10…Light emitting part 20...Control section 30...Time counter section 40...Light receiving section 42…pixels 50…Data transmission section 52,64,SEL,SEL1,SEL2,SEL3,SEL4...Selector 54,66,FF1,FF2,FF3,FF11,FF12,FF21,FF22,FF31,FF32...Sequential circuit 60...Binning processing unit 62,621,622,623…Combinational circuits 70...Histogram information generating unit 80...Histogram information storage unit 90...Output section 100…Distance measuring device

Claims

1. a light receiving unit having a plurality of pixels for detecting light including irradiation light from the light emitting unit reflected by an object in a measurement target area; a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for pixel blocks each including a portion of the plurality of pixels; an information generating unit that generates information that associates the signal for each pixel block generated by the binning processing unit with a time from light emission by the light emitting unit to detection of the light; a data transfer unit that transfers the plurality of signals from the light receiving unit to the binning processing unit, the data transfer unit sequentially transfers the plurality of signals received from the light receiving unit to the binning processing unit; The binning processing unit sequentially converts the plurality of signals transferred from the data propagation unit into signals for each pixel block. A distance measuring device comprising:

2. The data propagation unit has a plurality of signal holding units configured to be connectable to the plurality of pixels, respectively.

2. The distance measuring device according to claim 1.

3. The plurality of signals are transferred in parallel from the plurality of pixels to the plurality of signal holding units.

3. The distance measuring device according to claim 2.

4. The plurality of signal holding units are configured to be connectable to form a shift register.

3. The distance measuring device according to claim 2.

5. The shift register sequentially transfers each of the plurality of signals transferred to the plurality of signal holding units to the downstream signal holding unit.

5. The distance measuring device according to claim 4.

6. The pixels are arranged in a plurality of rows and a plurality of columns, The plurality of signal holding units are divided into groups corresponding to the rows or the columns, and each group constitutes the shift register.

5. The distance measuring device according to claim 4.

7. The signal holding units corresponding to one of the rows or columns are divided into two or more of the groups.

7. The distance measuring device according to claim 6.

8. The binning processing unit receives the signals in parallel from a predetermined number of the signal holding units downstream of the shift register.

8. A distance measuring device according to claim 4, wherein the distance measuring device is a distance measuring device having a distance measuring function.

9. The portion of pixels is arranged in two or more of the rows or columns, The binning processing unit receives signals of the part of pixels in parallel from the shift registers corresponding to the two or more rows or columns.

8. A distance measuring device according to claim 4, wherein the distance measuring device is a distance measuring device having a distance measuring function.

10. The shift register is configured to sequentially input the signals from the downstream signal holding unit to the binning processing unit in response to an input of a clock pulse.

8. A distance measuring device according to claim 4, wherein the distance measuring device is a distance measuring device having a distance measuring function.

11. The binning processing unit converts the signal input from the data propagation unit into the signal corresponding to the pixel block every time the clock pulse is input.

11. The distance measuring device according to claim 10.

12. The binning processing unit generates a signal based on the signal input from the data propagation unit and a processing result based on the signal input from the data propagation unit in response to the clock pulse one or more clock cycles earlier.

12. The distance measuring device according to claim 11.

13. The bit width of the data after processing by the binning processing unit is equal to or less than the bit width of the input data to the binning processing unit.

8. A distance measuring device according to claim 1, wherein the distance measuring device is a distance measuring device having a distance measuring function.

14. The information generating unit generates the information indicating a relationship between a class determined according to a time from when the light emitting unit emits light to when the light receiving unit detects the light and a frequency indicating a number of times the light is detected, for each of the pixel blocks.

8. A distance measuring device according to claim 1, wherein the distance measuring device is a distance measuring device having a distance measuring function.

15. A mobile object, A distance information acquisition device according to any one of claims 1 to 7, a control means for controlling the moving object based on the distance information acquired by the distance information acquisition device; A moving object comprising:

16. A method for driving a distance measuring device having a light receiving unit having a plurality of pixels that detects light including irradiation light from a light emitting unit reflected by an object in a measurement target area, a binning processing unit that converts a plurality of signals output from the plurality of pixels into signals for pixel blocks each including a portion of the plurality of pixels, and an information generating unit that generates information that associates the signals for each pixel block generated by the binning processing unit with a time from emission of light by the light emitting unit to detection of the light, receiving the plurality of signals from the light receiving unit; The plurality of signals received from the light receiving unit are sequentially transferred to the binning processing unit; The plurality of signals transferred to the binning processing unit are sequentially converted into signals for each pixel block. A method for driving a distance measuring device comprising the steps of:

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